moral of the story: avoid activities that invite police interaction when carrying
If the vehicle was being impounded that was the officer's decision to make, and he probably had to make it quickly and on his own. Now you need to deal with the bureaucracy and take a day off work to fill out bullshit paperwork. If no charges were filed against you and your property is being released to you, you probably do not need an attorney for this unless you want to sue Denver.